Vehicle Collision Avoidance System and Method

ABSTRACT

A system and method for providing an alert warning to a driver of a that includes forward facing vehicle sensors that can detect the presence and relative distance of a forward obstruction in a travel lane immediately in front of the vehicle, a processor for receiving signals from the forward sensor and for processing the signal to determine the relative speed, acceleration and or deceleration of the forward obstruction, a forward signal receiver adapted to receive a signal from a forward obstruction, a rear signal transmitter for transmitting information relating to the vehicle and any forward obstructions a following vehicle, and an driver alert device to warn a driver if a collision is imminent unless evasive action is implemented.

The inventors claims the benefit of the filing date of U.S. ApplicationNo. 62,066,241 filed Oct. 20, 2014. The present invention is directed toa vehicle collision warning system, and more particularly a warningsystem that includes vehicle to vehicle communications.

BACKGROUND OF THE INVENTION

With the increase in automobile usage in the 1940's and early 1950's,studies were under taken by auto manufacturers and civil engineeringeducators related to the response of vehicles and operators along withthe design of roadways to handle the increasing demand. These methodsremain in use today and have come to be referred to as Car Following(CF) studies with the interaction of vehicle density, vehicleperformance, roadway design and construction, and operator interactionreduced to mathematical equations. Argument continues within the scienceas to the parameters of importance in the mathematical models and theaccuracy of the calculated results, but it is general accepted that thepoints of significance include: vehicle speed, maximum vehicleacceleration and deceleration, distance (headway) between vehicles,operator reaction time, and vehicle density. Numerous equations havebeen developed as a product of this research with calculations intendedto demonstrate roadway capacity (vehicles/hour), roadway congestion(cars/mile), vehicle speed as a function of traffic density, thedemarcation between stable and unstable conditions, and to predict thetime to collision (TTC) under varying conditions. A key conclusion fromthese studies was that an operator's lack of awareness of eventsunfolding several vehicles downstream often resulted in the propagationof a perturbation into the upstream traffic flow with ever increasingintensity. The result of this effect was often observed as a slowing oftraffic in a phantom traffic jam and not uncommonly resulting in anactual rear-end collision. The present invention addresses thissignificant CF circumstance by providing vehicle operators with thestatus of conditions downstream in real time. While the equations andcalculations shown in prior studies remain applicable, the conditionsavailable from application of the invention simplify the analysis toapproximate that of only a single vehicle unit following a lead vehiclesince all following vehicles have instant, real time information as toconditions and all can, therefore, act simultaneously and independentlyadjust to changing conditions as needed.

There has been considerable interest and development efforts inconnection with the computer assisted detection, distance measuring, andvision system that relate to automobile warning systems that can alertdrivers of developing or changing conditions ahead of their respectivevehicle. The insurance industry, government agencies, automobilemanufactures along with other safety minded groups, have recognised theneed for vehicles to employ collision warning and/or avoidance systems.

For example, a method developed by Suburu and called “EyeSight” isdirected to a system that monitors traffic conditions ahead of thevehicle and provides alerts to the driver. It also assumes some level ofcontrol over the operation of the vehicle. There are also disclosures inthe prior art that include fairly complicated traffic monitoring andcontrol concepts that send information regarding traffic conditions intothe traffic stream through permanently positioned WiFi and other typesof signal transmitters located along the sides of highways.

Common occurrences in moderate to heavy city and highway traffic arecongestive chain-reaction slow-downs and related chain-reactioncollisions. In some cases the occurrence is triggered by a specificevent such as road construction, a mechanical breakdown, or an accident,but very often there is no definite or specific cause for the occurrenceother than an ever increasing braking action as drivers sequentiallyreact to an unknown non-specific change in conditions immediately infront of them.

It is believed that a driver's sudden braking reaction propagatesup-stream from a vehicle to the following vehicle with a predictableincrease in magnitude. It has also been shown that the chain-reactioneffect may be disrupted when an attentive driver monitors conditionsseveral vehicles ahead and is therefore able to anticipate the need fora gradual change such as speed reduction without excessive brakeapplication.

The object of the invention is to provide drivers with a vehicularsystem that monitors conditions in front of their vehicle to facilitatea controlled reaction to changing conditions, and to also provideinformation up-stream to following vehicles to further promote thecontinued propagation of the controlled reaction.

Vehicles have been equipped with brake-lights on the rear of vehicles toprovide an alert to the driver of a following vehicle for many years.Through the intervening years, brake-light technology has improved andthose advancements included an increase in number, illuminationintensity, size and location to provide to following drivers a highlynoticeable signal. However, signals from conventional brake lights are alimited-information binary alert that warns of a possible change invehicle speed but provides no other definitive information.

Some years after the introduction of the brake-light, turn-signal lightswere added for the purpose of providing additional information to otherdrivers that change in speed and/or direction were imminent. Whileproviding more information than the brake-light, this again provided alimited alert requiring and dependent upon additional observation andinterpretation on the part of the following driver.

More recent technology includes a variety of radar based proximitysystems, brake light detection and image processing systems to assistwith providing information to help with collision avoidance. Thefollowing other U.S. patents or publications are all generally directedto different collision avoidance systems.

U.S Pat. No. 8,629,789 is directed to a mobile communication device anddiscloses a system that collects multiple data points including radiotower transmission and satellite data the location of a vehicle as wellas laser detection systems. It also detects brake lights. The systemcontemplates providing data relating to potholes and traffic jams, suchas those caused by accidents, icing, rain, sun glare. The system tracksabnormal traffic patterns by comparing a vehicle speed to the speedlimit of historical average speed.

U.S. Pat. No. 5,668,880, relates to an inter vehicle data communicationdevices. The ‘880 Patent teaches systems which integrate GPS, GLONASS,LORAN or other positioning systems into vehicular guidance systems andgenerally disclose use of radar, laser, acoustic and visual sensors haveall been applied to vehicular guidance and control.

U.S. Pat. No. 5,541,590 relates to a vehicle crash predictive andevasive system, employing image data and neural networks.

U.S. Pat. No. 5,646,612 relates to a vehicle collision avoidance system,using an infrared imaging system including an infrared camera.

U.S. Pat. No. 5,285,523 relates to a neural network system forrecognizing driving conditions and controlling the vehicle in dependencethereon.

U.S. Pat. No. 5,189,619 relates to an artificial intelligence basedadaptive vehicle control system. It discloses a laser radar apparatus.

U.S. Pat. No. 5,162,997 relates to a driver-adaptive automobile controlsystem that focuses on predicting particular driver characteristics.

U.S. Pat. No. 3,689,882 relates to an anti-collision radar system fordetecting obstacles or on-coming vehicles. It teaches taking intoaccount all traffic conditions. It includes automatic braking systems.The system uses a radar detector and determines the safe distancesbetween vehicles.

U.S. Pat. No. 5,506,584 relates to a system for communication betweenvehicles through a transmitter and transponder relationship. The patentrefers to a system that can handles as many as 90 vehicles within onehalf mile of a fixed interrogation device in a multi-lane environment,where many of them may be at the same or nearly the same range. The '584patent discloses a transponder device, the coded responses which arerandomized in time, and an interrogation device which processes thereturn signals to provide vehicle identification, speed, location andtransponder status information on vehicles to an operator or for storagein memory.

U.S. Pat. No. 5,128,669 provides for two-way communication andaddressing messages to specific vehicles.

U.S. Pat. No. 7,990,283 discloses an accident avoidance system using aninfrastructure system to convey location information between vehiclesincludes at least two vehicles approaching or traveling on a roadway andeach having onboard, a position determining system that receivessatellite positioning signals from a plurality of satellites anddetermines location information based on the satellite positioningsignals, a transmitter that transmits the location information for thevehicle to an infrastructure system, a receiver that receives locationinformation for another vehicle from the infrastructure system, and anaccident risk warning system that alerts its operator of a risk of anaccident based on the location information for any other vehicles andmap data representing the roadway including edges or lane boundaries ofthe roadway.

U.S. Pat. No. 8,255,144 assigned to Intelligent TechnologiesInternational, Inc., Denville,

NJ. discloses a system and method for conveying data between vehiclesincludes a data generating system arranged on a first vehicle to obtainor generate information about the first vehicle or conditions around thefirst vehicle, a first communications system arranged on the firstvehicle and coupled to the data generating system for communicating witha wireless Internet service provider (ISP) and a second communicationssystem arranged on a second vehicle and communicating with an ISP. Thefirst communications system enables the information obtained orgenerated by the data generating system to be transmitted via theInternet to the second communications system. The first and secondcommunications systems can communicate with the same ISP or differentISPs linked to one another.

U.S. Pat. No. 7,912,645 discloses an arrangement and method fordisplaying and transferring information between a vehicle and at leastone transmitter separate from the vehicle includes an antenna mounted onthe vehicle for receiving RF wireless signals emitted by eachtransmitter, a location determining device for determining the vehicle'slocation, a display arranged on the vehicle in a position to be viewableby a vehicle occupant and to display representations of the vehicle andother objects in the vicinity of the vehicle, and a processor coupled tothe antenna, location determining device and display. The transmitter islocated at a fixed position. The processor performs location-basedfiltering of signals received by the antenna to determine whether anycontain information of interest for vehicular operation, extracts theinformation of interest from the signals determined to containinformation of interest, and displays the location of the transmitter ofthe signals determined to contain information of interest or theinformation of interest from the transmitter.

U.S. Pat. No. 4,757,450 relates to a reflected beam system for detectinga preceding vehicle that is used to allow control over inter-vehicularspacing.

U.S. Pat. No. 4,833,469 relates to an obstacle proximity sensor,employing, inter alia radar beam to determine distance and relativevelocity of an obstacle for collision avoidance.

U.S. Pat. No. 5,600,561 relates to a vehicle distance data processorwhich computes a velocity vector based on serial timepoints. Thisreference discloses capturing multiple vehicles data ahead of thesubject.

U.S. Pat. No. 4,552,456 relates to optical pulse radar for anautomobile.

U.S. Pat. No. 4,543,577 relates to a moving obstacle detection systemfor a vehicle, using Doppler radar.

U.S. Pat. No. 4,349,823 relates to an automotive radar system formonitoring objects in front of the vehicle.

U.S. Pat. No. 5,473,538 relates to a collision judging system for avehicle, triggered by a braking event and determining a distance to anobstacle in front of the vehicle.

U.S. Pat. No. 4,168,499 relates to an anti-collision radar system.

U.S. Pat. No. 4,626,850 relates to a vehicle detection and collisionavoidance apparatus, using an acoustic sensor

U.S. Pat. No. 4,028,662 relates to a passing vehicle signalingapparatus, to detect adjacent vehicles during a lane change.

BRIEF DESCRIPTION OF THE INVENTION

The present invention is directed to a system and method that usesestablished sensor and detection technology as discussed above.Information regarding the location and operation of a vehicle iscontinuously collected using conventional sensors including any or allGPS, speedometers, accelerometers, braking data from the braking system,optical sensors and radar. The collected data is captured, associatedwith the time of collection, and analyzed.

Central to the present invention is the communication of data betweenproximate vehicles wherein data gathered from in front of a firstvehicle “A” are detected, processed, combined with condition data ofvehicle “A”, and then transmitted to a second vehicle “B” following thefirst vehicle “A” so that vehicle “B” has essentially the view ofconditions to and through vehicle “A.” This concept described herein isdistinguished from systems disclosed above because, inter alai suchtechnology contemplates that each vehicle as a singular unit rather thanas part of a continuous data-stream system as described herein.

In the system and method of the invention, information is gathered,analyzed, modified, and transmitted upstream from vehicle to vehicle ina theoretically endless flow that could extend for many highway miles,limited and attenuated as needed by the system software algorithm sothat only essential, relevant, and meaningful signals are displayed inany one vehicle. An analogy is that of the existing brake andturn-signal lights on the back of a car that are positioned to transmitnon-specific binary information to alert the following car of possibleimpending changes. Using existing technology the information transmittedupstream can be much more extensive so that analysis by the on-boardsystem will give the operator a more complete understanding of pendingconditions for a logically significant distance/time in front of hisvehicle.

Like the present system, most of the systems described in the prior artcontemplate that the driver of the vehicle is still responsible for thecontrol of the vehicle. As such, the balance between the systemcapability and the driver attention and skill that is required need tobe clear and easily understandable. The present invention provides adriver with a “vision” and alert of impending conditions so that thedriver has data available to make an informed decision. This alert canbe communicated by both visual and audio signals and the signal volumeand intensity can be adjusted to correspond to the relative severity ofthe impending circumstance.

The present invention includes a system wherein a plurality ofinformation relating to first vehicle, including, the first vehiclespeed, direction vector, acceleration or deceleration and geographiclocation is collected and analyzed. This information is then transmittedupstream to a second vehicle wherein a similar plurality of informationis also collected relating to the second vehicle. The information fromthe first and second vehicles is then processed by the second vehiclesystem and, according to a predetermined algorithm, a signal isgenerated and transmitted to the third vehicle.

Thus, according to the invention, the second vehicle then transmits asignal rearward to a third vehicle which is comprises the analyzed datarelating to its speed, acceleration, deceleration, direction, andlocation and including the analyzed information received from the firstvehicle. In a similar manner the combined signal transmitted to thethird vehicle is then analyzed by the third vehicle system to provide acollision alert or warning as needed. This daisy chain propagation ofinformation upstream will then continue with the system algorithm ofeach vehicle truncating the received information relative to therealistic reaction response of that vehicle.

The present invention is therefore directed to an early warning trafficcondition monitor and collision avoidance system that includes (1) awireless communication system (including infrared or radio) (2) at leastthree vehicles traveling in the same direction in a lane (3) wherein thelead vehicle transmits a series of signals to the middle vehicle whereinthe signal includes information relating to its speed, direction, andacceleration/deceleration and (4) the middle vehicle sends to the thirdvehicle a signal that includes analyzed information from the firstvehicle and information relating to the middle vehicle.

The data may be collected from a variety of sensors including radar,GPS, on board speedometers, accelerometers, photo detectors and otherimage sensors and correlated with a particular vehicle. The signal couldbe transmitted using infrared or using other wireless technologies.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flow chart depicting the flow of data in an embodiment theinvention.

FIG. 2 is a schematic representation of the vehicle to vehicle data flowaccording to embodiments of the invention.

FIG. 3 is a schematic representation of the components that are used inembodiments of the invention.

FIG. 4a is system display schematic when the system is in heavy trafficflow according to an embodiment of the invention. .

FIG. 4b an alternative system display schematic when the system is inheavy traffic flow according to an embodiment of the invention. .

FIG. 4c is system display schematic when the system is in moderatetraffic flow according to an embodiment of the invention.

FIG. 4d is system display schematic when the system is in heavy trafficflow according to an embodiment of the invention.

FIG. 5 is a schematic illustration of a vehicle to vehicle transferconcept according to an embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

As discussed above an embodiment of the invention is implemented on asystem that comprises monitoring and control technology as describedabove including signal reception from a downstream vehicle, andreception of external transmitted data from GPS, radar and vision oroptical sensors. No referring to FIG. 1, the signal processing flow isillustrated. An index vehicle include a central processor thatcontinuously scans data at step 105 that includes data from downstreamvehicle 107, on board sensors 109 and external transmitted data such asfrom GPS systems. This data is analyzed in step 113 and, at step 115 ifthe algorithm dictates that an alarm is required, the sequence proceedsto step 117 which triggers both an audio and visual alarm. If no alarmis triggered, the algorithm proceeds to step 119 is to determine ifconditions dictate that an alert is triggered at step 121. If an alertis issued, an audible and visual signal is initiated. The alert audibleand visual signal is different than the audible and visual signal fromthe alarm step. If neither an alert nor an alarm is activated the systemproceeds to step 125. The system according to the invention may furtherinclude onboard sensors to collect and monitor vehicle operation thatmay including accelerometers, speedometers and a sensor to detect theimplementation of the brake system, turn signals and other operatorcontrolled actions. In an embodiment, the system is provided data fromthe windshield wiper operating, including the selected speed of thewipers and analyzes the data in the algorithm. In addition the systemincludes a signal transmitter and signal receiver and processor. Thedata from the various sensors and from received signals is collected andprocessed according to the algorithms disclosed herein. As discussedbelow, output from the processor includes signal to an alert display, anaudio signal as well as information for a signal to be transmitted froma transmitter for use in other vehicles.

Now referring to FIG. 2, according to an embodiment of the invention, aplurality of vehicles 201, 202, 203 and 204 in a travel lane 209 receiveand process data to inform each driver of travel conditions ahead. Asshown in FIG. 2, vehicle 201 has an open road in front so no data isreceived from a downstream vehicle. External transmitted data 208 isreceived, however, and combined and analyzed with on-board sensor 215data to establish the operating status of vehicle No. 1. The status isthen displayed for the vehicle operator and transmitted upstream tovehicle 202. Vehicle 202 in turn, analyzes the received Data B 220 fromvehicle 201, external transmitted data 221 and data from onboard sensors225, and establishes a status of vehicle 202. As with vehicle 201, thestatus is displayed for the vehicle operator including any alarms oralerts the system has calculated, and this data C status 240 istransmitted upstream to vehicle 203. Vehicle 203 uses data C 240,external transmitted data process repeats for each following vehicle, inturn, with the system algorithm truncating forward data not relevant tothe particular vehicle. Vehicle 204 receives data D 249 which includesrelevant data from Data B 220 and Data C 240. Vehicle 204 analyzes dataD along with external transmitted data 251 and data from on boardsensors 255 to provide an output signal. In embodiments, the system mayonly use upstream transmitted data and the on-board sensors in theanalysis to provide either an alarm, alert or status quo signal.

The system includes signal technology for the transmission ofinformation up-stream to the next following vehicle. As an example,starting with vehicle 201 (first in an arbitrary line), the informationimbedded in the data stream transmitted from vehicle 201 to thefollowing vehicle 202 is weighted by a suitable separationdistance/speed algorithm between vehicle 201 and vehicle 202, and thetransmitted condition of vehicle 201 (as examples: Displayed in vehicle202 for the status of vehicle 201 as visual and audible signals;green—“Okay”; amber+audible beep—“Alert”; or red +audiblealarm—“Alarm”). This information is then processed to generate theappropriate control reaction within vehicle 202, and the modified datarelayed to the next following vehicle 203 with the circumstanceindicated on the vehicle 203 graphic/audible display denoting vehicles201 and 202 with their corresponding conditions.

Again the algorithm for vehicle 203 considers the separation distanceand speed data of vehicle 201 and vehicle 202, the separation distanceand speed from vehicle 202 to vehicle 203, etc. Through this process theforward look from forward vehicle 201 is transmitted to vehicle 202, theforward look from vehicle 202 (including the data from vehicle 201) istransmitted to vehicle 203. By providing information with respect tovehicles 201and 202 to vehicle 203, the analyzed information can serveto mitigate or eliminate the chain-reaction propagation phenomena at theearliest possible point and the continuation of that abatement up-streamto subsequent following vehicles. The transmission of data can thencontinue up the traffic stream limited only by the design of the systemand display, and the processing limits established in the softwarealgorithms.

In an example, the, system algorithm will truncate data from vehiclesoutside of the response zone of a specific vehicle in order minimize thequantity of displayed information and to make the displayed informationmost relevant. A vehicle traveling at 30 MPH on light traffic would notneed to display information from a downstream vehicle more than a mileahead. In heavy or congested traffic it would be of greater importanceto monitor vehicles in that same distance since the ripple effect of anysudden change would propagate quickly through the traffic stream.

As discussed above, embodiments of the invention include a handshakefeature wherein vehicles in proximity will receive signals and confirmreception.

The handshake feature enables drivers and the system to both confirm theexistence of the communication system and be provided with an alert if acommunication system in an adjacent vehicle is not responding to thedata transmission so that vehicle can be identified and possibly alertedvia an alternative means.

The signal from the vehicles may be transmitted using a variety ofconventional signal technologies including radio waves, such as 300Hztechnology, infrared, WiFi, Wimax, or even visual.

Now referring to FIG. 3, a schematic representation of the systemaccording to an embodiment of the invention used on a particular vehicleis shown that includes a data processing module 301, a downstream datareceiver 304, an external transmitted data received 306 (Such as a GPSsystem), onboard vehicle sensors 308 and console 310 that includes audiospeakers and visual display and consul 301 and an upstream vehicle datatransmitter 312.

FIGS. 4a-4d depict aspects of a display and driver communication systemaccording to an embodiment of the invention. The display a map element405 and a proximate vehicle display 404. Proximate vehicle display 404can display dynamic information relating to current driving conditionsand display a series of indicator lights that reflect the presence ofrelevant vehicles on the road ad travelling in the same direction oftravel. These indicator lights, such as light 409 on display region 404,are displayed at locations to simulate the distance between the relativevehicles that are represented on the display and their location willchange as the system is continuously updated with new data. As such thelocation of the depictions vary in FIGS. 4a, 4b, 4c and 4d . While thedepiction in FIGS. 4a -4d shows a single travel lane, it is contemplatedthat the system could include data from vehicles in adjacent trafficlanes that include vehicles that are traveling in the same direction, orin other directions. The display may use a led display or be a series ofLEDs that can be selectively illuminated. FIG. 4a depicts a display innormal status during heavy traffic conditions wherein each of theindicator lights 409-415 on the display are illumined in a green color(symbolized by the letter G). The consul includes a loudspeaker 460 forproviding an audio signal. FIG. 4b depicts the consul 401 in heavytraffic in the alarm status. In this a number of the indicator lightssuch as light 491 is in red (symbolized by the letter R) and others,such as light 492 and 493 are illumined in amber (symbolized by theletter A). Other lights represent vehicles may be in green such as light489, 490, 494, 495 and 496. In this status the loudspeaker provides analarm signal.

FIG. 4c represents the display system in moderate traffic with thestatus of the system on Alert status. I this representation light 419,420 are illuminate in green. Light 425 is illuminated in amber andlights 427, 428 429 and 430 are in green.

FIG. 4d represents the display in light traffic conditions in normaloperating status. Here there are only three cars presented in field 404and each one of them 431, 433 and 44 are represented in green.

FIG. 5 is a schematic illustration of the vehicle to vehicle transfer ofinformation wherein an obstruction encountered and sensed by vehicle1011 is transmitted to vehicle 1012, 1013 and 1014 regardless of whethereach intermediate vehicle reacts to the obstruction. As such thesequential reaction is bypassed and can be eliminated and the intensityof the response can be reduced upstream. Providing the informationallows correction time to be more rapid and the reaction, such a brakingcan be implemented with reduced intensity.

The present invention therefore improves upon conventional brake lightand turn-signal binary data with the addition of a signal from aplurality of proximate vehicles that are travelling in the samedirection wherein preselected information is captured, and thentransmitted to up-stream vehicles and processed. While the technologylimitations of the brake-light/turn-signal era limited the transmittedinformation to a simple and short distance binary-signal the presentsystem gathers and processes significant quantities of data, and furtherallows for rapid and accurate analysis and transmission of thecalculated results over substantial distances.

In addition to systems that are directed to traffic flow in generallythe same direction, aspects of the invention can also have applicationsfor the detection, alert and alarms with respect to a 90 degree field ofinspection that would monitor a signal from a vehicle (including smallsport cars and motorcycles) approaching an intersection so the vehicleat the intersection doesn't pull into their path for a T-bone collision.This embodiment requires that each vehicle-installed system have thecapability of monitoring at 90 degrees to the direction of travel, andalso have the capability to transmit a signal forward of the approachingvehicle to alert the vehicle presently at the intersection. The 90degree system could function as a stand-alone since the calculation ofabsence or presence of a threat is much simpler than a basic carfollowing system, though much of the hardware technology will be thesame.

Basic Care following systems and distance algorithms are well known inthe prior art and, for example, the algorithms as disclosed in thefollowing reference are incorporated by reference herein: EVALUATION OFTHE GHR CAR FOLLOWING MODEL FOR TRAFFIC SAFETY STUDIES; Kaveh Bevrani,Queensland University of Technology, Australia Edward Chung, QueenslandUniversity of Technology, Australia Marc Miska, Queensland University ofTechnology, Australia; 25th ARRB Conference—Shaping the future: Linkingpolicy, research and outcomes, Perth, Australia 2012 and CAR FOLLOWINGMODELS, RICHARD W. ROTHERY, Senior Lecturer, Civil EngineeringDepartment, The University of Texas, ECJ Building 6.204, Austin, Tex.Acha-Daza, J. A. and F. L. Hall (1994); Application cation ofCatastrophe Theory to Traffic Flow Variables; Transportation Research—B,28B(3). Elsevier Science Ltd., pp. 235-250. Babarik, P. (1968).Automobile Accidents and Driver Reaction Pattern. Journal of AppliedPsychology, 52(1), pp. 49-54. Barbosa, L. (1961). Studies on TrafficFlow Models. Reports No. 202A-1. The Ohio State University AntennaLaboratory. Bender, J. G. (1971). An Experimental Study of VehicleAutomatic Longitudinal Control. IEEE Transactions on VehicularTechnology, VT-20, pp. 114-123.Bender, J. G. (1991). An Overview ofSystems Studies of Automated Highway Systems. IEEE Transactions onVehicular Technology 40(1). IEEE Vehicular Technology Society, pp.82-99. Bender, J. G. and R. E. Fenton (1969). A Study of Automatic CarFollowing. IEEE Transactions on Vehicular Technology, VT-18, pp.134-140.Cardew, K. H. F. (1970). Traffic Dynamics: Studies in. CarFollowing, Operations Research, 6, pp. 165-184. Chow, T. S. (1958).Operational Analysis of a Traffic Dynamics Problem. Operations Research,6(6), pp. 165-184. Constantine, T. and A. P. Young (1967). TrafficDynamics: Car Following Studies. Traffic Engineering and Control 8, pp.551. Cumming, R. W. (1963). The Analysis of Skills in Driving. Journalof the Australian Road Research Board 1, pp. 4. Darroch, J. N. and R. W.Rothery (1973). Car Following and Spectral Analysis. Proceedings of the5th International Symposium on the Theory of Traffic Flow andTransportation. Ed. Newell, G. F., American Elsevier Publishing Co., NewYork. Drake, J. S., J. L. Schofer, and A. D. May, Jr. (1967). AStatistical Analysis of Speed Density Hypotheses. Highway ResearchRecord 154, pp. 53-87. Drew, D. R. (1965). Deterministic Aspects ofFreeway Operations and Control. Highway Research Record, 99, pp. 48-58.Edie, L. C. (1961). Car-Following and Steady State Theory forNon-Congested Traffic. Operations Research 9(1), pp. 66-76. Edie, L. C.and E. Baverez (1967). Generation and Propagation of Stop-Start Waves.Vehicular Traffic Science Proceedings of the 3rd International Symposiumon the Theory of Traffic Flow. L. C. Edie, R. Herman and R. W. Rothery(Eds.). American Elsevier, New York. Gazis, D. C., R. Herman, and R. B.Potts (1959). Car Following Theory of Steady State Traffic Flow.Operations Research 7(4), pp. 499-505. Gazis, D. C., R. Herman, and R.W. Rothery (1961). Car Following Theory of Steady State Traffic Flow.Operations Research 7(4), pp. 499-505. Gazis, D. C., R. Herman, and R.W. Rothery (1963). Analytical Methods in Transportation: MathematicalCar-Following Theory of Traffic Flow. Journal of the EngineeringMechanics Division, ASCE Proc. Paper 3724 89 (Paper 372), pp. 29-46.Herman, R. and R. W. Rothery (1965). Car Following and Steady-StateFlow. Proceedings of the 2nd International Symposium on the Theory ofTraffic Flow. Ed J. Almond, O.E.C.D., Paris. Herman, R. and R. W.Rothery (1969). Frequency and Amplitude Dependence of Disturbances in aTraffic Stream. Proceedings of 4th International Symposium on the Theoryof Traffic Flow, Ed. W. Leutzbach and P. Baron. Bonn, Germany. Herman,R. and R. W. Rothery (1962). Microscopic and Macroscopic Aspects ofSingle Lane Traffic Flow. Operations Research, Japan, pp. 74. Harris, A.J. (1964). Following Distances, Braking Capacity and the Probability ofDanger of Collision Between Vehicles. Australian Road Research Board,Proceedings 2, Part 1, pp. 496-412. All of the following areincorporated by reference herein.

A system and method for providing an alert warning to a driver istherefore provided that includes a vehicle that has forward facingvehicle sensors, and the forward facing vehicle sensor is operable todetect the presence and relative distance of a forward obstruction in atravel lane immediately in front of said vehicle. The system alsoincludes a processor for receiving signals from the forward sensor andto processes the signal to determine the speed, acceleration ordeceleration of the forward obstruction.

The system also include a signal receiver to received signal fromforward obstructions and a transmitter, for the transmission ofinformation relating to the vehicle and forward obstructions tofollowing vehicles. The system includes an alert and/or alarm deviceswhich is triggered and displayed using an algorithm run by saidprocessor that uses forward sensor data, speed data and vehicle brakingcharacteristics for the vehicle in the event that a collision isimminent unless evasive action is implemented.

The processor may receive data relating to the distance between aforward obstruction and the vehicle as well as relative acceleration ordeclaration between said vehicles and said forward obstruction isdetermined. Accordingly in various embodiments the speed of a forwardobstruction is determined and the speed of the vehicle is determined andthe data is transmitted so that rearward vehicle have the benefit ofsuch information. Data relating to the speed of the obstruction andother vehicles travelling in the same direction of the vehicle aredetermined and displayed on a vehicle display and such information isalso transmitted to rearward vehicles.

In embodiments, a unique vehicle identifier code is provided wherein thevehicle identification code may be transmitted to a driver's vehicle andthe driver's vehicle can display the vehicle code relative to thedisplay of the vehicle. As discussed herein the unique vehicleidentifier code can provides information relating to the identificationand further comprises the make of the vehicle, the model and color.

the system may provide a vehicle alarm or alert system that comprises aplurality of signals based upon predetermined threshold levels relativeto the probability of a forward collision determined by an algorithm.For example, if the speed of a vehicle is calculated and the braking arenot before impact with a stationary obstruction, an alarm is activated.This alarm may preferable be activated at some time before the crash isimminent to allow for the diver to make further evasive action includingbut not limited to braking.

In embodiments a look-up table that reflects braking characteristics ofpreselected vehicles and processor uses data relative to said in saidalgorithm may be provided and this information is stored in a memoryaccessible to the processor. The vehicle display may include light andsounds that reflect the traffic flow of other vehicles forward relativeto the vehicle. A display may further represents a plurality of vehiclesin a forward traffic lane and each vehicle is graphically represented insaid display.

Embodiments of the system of may include a graphic display that reflectdifferent color indicator lights that reflect a status of each saidforward vehicles. In embodiments, an alert system may provide tactilefeedback to the driver such as vibration in the steering wheel thatreflects the existence of an alert or alarm condition. The systemtherefore primarily applicable when a plurality of vehicle are travelingin a single lane of traffic. However, in other contemplated embodiments,vehicle indication codes and other vehicle identification data such ascolor, make model year, vehicle type (truck sedan, SUV, etc.) can betransmitted, collected and used on a display of multiple vehicles inmultiple lane highways and other roadways and such display may includeinformation on the relative status of the vehicle relative to the drivervehicle. While the, applicant used the term “rear transmitter” orforward signal receiver the transmissions could in some instances befrom in any direction and what is important is that that the drivervehicle will only collect and process and display data relating tovehicles that are in a forward position relative to the driver'svehicle.

The present invention has been illustrated and described with respect tospecific embodiments thereof, which embodiments are merely illustrativeof the principles of the invention and are not intended to be exclusiveor otherwise limiting embodiments. Accordingly, although the abovedescription of illustrative embodiments of the present invention, aswell as various illustrative modifications and features thereof,provides many specificities, these enabling details should not beconstrued as limiting the scope of the invention, and it will be readilyunderstood by those persons skilled in the art that the presentinvention is susceptible to many modifications, adaptations, variations,omissions, additions, and equivalent implementations without departingfrom this scope and without diminishing its attendant advantages. It isfurther noted that the terms and expressions have been used as terms ofdescription and not terms of limitation. There is no intention to usethe terms or expressions to exclude any equivalents of features shownand described or portions thereof Additionally, the Present inventionmay be practiced without necessarily providing one or more of theadvantages described herein or otherwise understood in view of thedisclosure and/or that may be realized in some embodiments thereof. Itis therefore intended that the present invention is not limited to thedisclosed embodiments but should be defined in accordance with theclaims that follow.

We claim:
 1. A system and method for providing an alert warning to adriver comprising a vehicle, said vehicle further comprising a forwardfacing vehicle sensors, said forward facing vehicle sensor operable todetect the presence and relative distance of a forward obstruction in atravel lane immediately in front of said vehicle, and said first vehiclefurther comprising a processor wherein said processor receives saidsignal from said forward sensor and processes said signal to determinethe speed, acceleration or deceleration of said forward obstruction, andsaid vehicle further comprising a forward signal receiver, said signalreceived adapted to receive a signal from a forward obstruction and arear signal transmitter, said rear transmitter to transmit informationrelating to said vehicle and said forward obstruction to a followingvehicle, and further comprising an driver alert device, wherein saidalert is displayed based upon an algorithm run by said processor thatuses forward sensor data, speed data and vehicle braking characteristicsfor said vehicle in the event that a collision is imminent unlessevasive action is implemented.
 2. The system of claim 1 wherein saidprocessor received data relating to the distance between a forwardobstruction and said vehicle and the relative acceleration ordeclaration between said vehicles and said forward obstruction isdetermined.
 3. The system of claims 2 wherein the speed of said forwardobstruction and said vehicle is determined and transmitted from a rearvehicle transmitter.
 4. The system of claim 1 wherein a data relating tothe speed of the obstruction and other vehicles travelling in the samedirection of the vehicle are determined and displayed on said vehicledisplay and transmitted to rearward vehicles.
 5. The system of claim 1further comprising a unique vehicle identifier code wherein the vehicleidentification code is transmitted to a vehicle and the vehicle candisplay the vehicle code relative to the display of said vehicle.
 6. Thesystem of claims 5 wherein the unique vehicle identified providesinformation relating to the identification and further comprises themake of the vehicle.
 7. The system of claims 6 wherein said informationfurther comprises the model and color.
 8. The system recited in claim 1wherein said vehicle display can provide alert information and alarminformation based upon said predetermined data input and said alter oralarm is determined by said algorithm.
 9. The system of claim 8 furthercomprising a vehicle alarm or alter system that comprises a plurality ofsignals based upon predetermined threshold levels relative to theprobability of a forward collision.
 10. The system of claim 1 furthercomprising a look-up table that reflects braking characteristics ofpreselected vehicles and processor uses data relative to said in saidalgorithm.
 11. The system of claims 1 wherein the display include lightand sounds that reflect the traffic flow of other vehicles forwardrelative to the vehicle.
 12. The System of claim 11 wherein said thedisplay represents a plurality of vehicles in a forward traffic lane andeach vehicle is graphically represented in said display.
 13. The systemof claim 12 wherein said graphic display further reflect different colorindicator lights that reflect a status of each said forward vehicles.14. The system of claims 1 wherein said alert system further providestactile feedback to the driver such as vibration in the steering wheelthat reflects the existence of an alter or alarm condition.
 15. Thesystem of claim 13 wherein a plurality of vehicle are traveling in asingle lane of traffic.